Path Optimization

Path optimization algorithms derive from class hpp::core::PathOptimizer. More...

Namespaces

 hpp::core::pathOptimization
 

Classes

class  hpp::core::pathOptimization::GradientBased
 
class  hpp::core::PathOptimizer
 Abstraction of path optimizer. More...
 
class  hpp::core::RandomShortcut
 Random shortcut. More...
 

Functions

static GradientBasedPtr_t hpp::core::pathOptimization::GradientBased::create (const Problem &problem)
 Return shared pointer to new object. More...
 
void hpp::core::pathOptimization::GradientBased::cost (const CostPtr_t &cost)
 Set cost. More...
 
virtual PathVectorPtr_t hpp::core::pathOptimization::GradientBased::optimize (const PathVectorPtr_t &path)
 Optimize path. More...
 
 hpp::core::pathOptimization::GradientBased::GradientBased (const Problem &problem)
 
const Problemhpp::core::PathOptimizer::problem () const
 Get problem. More...
 
virtual PathVectorPtr_t hpp::core::PathOptimizer::optimize (const PathVectorPtr_t &path)=0
 Optimize path. More...
 
 hpp::core::PathOptimizer::PathOptimizer (const Problem &problem)
 

Detailed Description

Path optimization algorithms derive from class hpp::core::PathOptimizer.

Function Documentation

◆ cost()

void hpp::core::pathOptimization::GradientBased::cost ( const CostPtr_t cost)

Set cost.

◆ create()

static GradientBasedPtr_t hpp::core::pathOptimization::GradientBased::create ( const Problem problem)
static

Return shared pointer to new object.

Default cost is path length.

◆ GradientBased()

hpp::core::pathOptimization::GradientBased::GradientBased ( const Problem problem)
protected

◆ optimize() [1/2]

virtual PathVectorPtr_t hpp::core::pathOptimization::GradientBased::optimize ( const PathVectorPtr_t path)
virtual

Optimize path.

Implements hpp::core::PathOptimizer.

◆ optimize() [2/2]

virtual PathVectorPtr_t hpp::core::PathOptimizer::optimize ( const PathVectorPtr_t path)
pure virtual

◆ PathOptimizer()

hpp::core::PathOptimizer::PathOptimizer ( const Problem problem)
inlineprotected

◆ problem()

const Problem& hpp::core::PathOptimizer::problem ( ) const
inline

Get problem.